Visual object tracking plays an important role in intelligent aerial surveillance by unmanned aerial vehicles（UAV）. In ordinary applications, aerial videos are captured by cameras with a fixed-focus lens or a zoom l...Visual object tracking plays an important role in intelligent aerial surveillance by unmanned aerial vehicles（UAV）. In ordinary applications, aerial videos are captured by cameras with a fixed-focus lens or a zoom lens, for which the field-of-view（FOV）of the camera is fixed or smoothly changed. In this paper, a special application of the visual tracking in aerial videos captured by the dual FOV camera is introduced, which is different from ordinary applications since the camera quickly switches its FOV during the capturing. Firstly, the tracking process with the dual FOV camera is analyzed, and a conclusion is made that the critical part for the whole process depends on the accurate tracking of the target at the moment of FOV switching. Then, a cascade mean shift tracker is proposed to deal with the target tracking under FOV switching. The tracker utilizes kernels with multiple bandwidths to execute mean shift locating, which is able to deal with the abrupt motion of the target caused by FOV switching. The target is represented by the background weighted histogram to make it well distinguished from the background, and a modification is made to the weight value in the mean shift process to accelerate the convergence of the tracker. Experimental results show that our tracker presents a good performance on both accuracy and efficiency for the tracking. To the best of our knowledge, this paper is the first attempt to apply a visual object tracking method to the situation where the FOV of the camera switches in aerial videos.展开更多
Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distribute...Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.展开更多
基金supported by National Natural Science Foundation of China(Nos.61175032,61302154 and 61304096)
文摘Visual object tracking plays an important role in intelligent aerial surveillance by unmanned aerial vehicles（UAV）. In ordinary applications, aerial videos are captured by cameras with a fixed-focus lens or a zoom lens, for which the field-of-view（FOV）of the camera is fixed or smoothly changed. In this paper, a special application of the visual tracking in aerial videos captured by the dual FOV camera is introduced, which is different from ordinary applications since the camera quickly switches its FOV during the capturing. Firstly, the tracking process with the dual FOV camera is analyzed, and a conclusion is made that the critical part for the whole process depends on the accurate tracking of the target at the moment of FOV switching. Then, a cascade mean shift tracker is proposed to deal with the target tracking under FOV switching. The tracker utilizes kernels with multiple bandwidths to execute mean shift locating, which is able to deal with the abrupt motion of the target caused by FOV switching. The target is represented by the background weighted histogram to make it well distinguished from the background, and a modification is made to the weight value in the mean shift process to accelerate the convergence of the tracker. Experimental results show that our tracker presents a good performance on both accuracy and efficiency for the tracking. To the best of our knowledge, this paper is the first attempt to apply a visual object tracking method to the situation where the FOV of the camera switches in aerial videos.
基金The National Natural Science Foundation of China (No 60428303)
文摘Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.
